#ifndef IRLOCATE_H
#define IRLOCATE_H

#include "../CommandBase.h"
#include "../Subsystems/lifter.h"
#include "../Subsystems/conveyer.h"
#include "../Subsytsems/irsensors.h"

/**
 * This will return 3-dimensional polar coordinates that represent the line-of-sight 
 * coordinates to the specified vision target. It will do this using the camera data.
 * 
 */
class IRlocate: public CommandBase {
public:
	IRlocate();
	void Initialize();
	void Execute();
	bool IsFinished();
	void End();
	void Interrupted();
	enum State{kEmpty=0,kBall1=1,kBall2=2,kBall3=3,kLoading1=4,kLoading2=5,kLoading3=6,kFiring1=7,kFiring2=8,kFiring3=9};
};

#endif
